Object recognition from local scale-invariant features
20 Sep 1999-Vol. 2, pp 1150-1157
TL;DR: Experimental results show that robust object recognition can be achieved in cluttered partially occluded images with a computation time of under 2 seconds.
Abstract: An object recognition system has been developed that uses a new class of local image features. The features are invariant to image scaling, translation, and rotation, and partially invariant to illumination changes and affine or 3D projection. These features share similar properties with neurons in inferior temporal cortex that are used for object recognition in primate vision. Features are efficiently detected through a staged filtering approach that identifies stable points in scale space. Image keys are created that allow for local geometric deformations by representing blurred image gradients in multiple orientation planes and at multiple scales. The keys are used as input to a nearest neighbor indexing method that identifies candidate object matches. Final verification of each match is achieved by finding a low residual least squares solution for the unknown model parameters. Experimental results show that robust object recognition can be achieved in cluttered partially occluded images with a computation time of under 2 seconds.
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20 Jan 2020
TL;DR: DOOR-SLAM as discussed by the authors is a fully distributed SLAM system with an outlier rejection mechanism that can work with less conservative parameters and does not require full connectivity among the robots.
Abstract: To achieve collaborative tasks, robots in a team need to have a shared understanding of the environment and their location within it. Distributed Simultaneous Localization and Mapping (SLAM) offers a practical solution to localize the robots without relying on an external positioning system (e.g. GPS) and with minimal information exchange. Unfortunately, current distributed SLAM systems are vulnerable to perception outliers and therefore tend to use very conservative parameters for inter-robot place recognition. However, being too conservative comes at the cost of rejecting many valid loop closure candidates, which results in less accurate trajectory estimates. This letter introduces DOOR-SLAM , a fully distributed SLAM system with an outlier rejection mechanism that can work with less conservative parameters. DOOR-SLAM is based on peer-to-peer communication and does not require full connectivity among the robots. DOOR-SLAM includes two key modules: a pose graph optimizer combined with a distributed pairwise consistent measurement set maximization algorithm to reject spurious inter-robot loop closures; and a distributed SLAM front-end that detects inter-robot loop closures without exchanging raw sensor data. The system has been evaluated in simulations, benchmarking datasets, and field experiments, including tests in GPS-denied subterranean environments. DOOR-SLAM produces more inter-robot loop closures, successfully rejects outliers, and results in accurate trajectory estimates, while requiring low communication bandwidth. Full source code is available at https://github.com/MISTLab/DOOR-SLAM.git .
106 citations
Proceedings Article•
27 Jul 2014TL;DR: This paper proposes a novel Sparse Online Metric Learning (SOML) scheme for learning sparse distance functions from large-scale high-dimensional data and explores its application to image retrieval.
Abstract: Image similarity search plays a key role in many multimedia applications, where multimedia data (such as images and videos) are usually represented in highdimensional feature space. In this paper, we propose a novel Sparse Online Metric Learning (SOML) scheme for learning sparse distance functions from large-scale high-dimensional data and explore its application to image retrieval. In contrast to many existing distance metric learning algorithms that are often designed for low-dimensional data, the proposed algorithms are able to learn sparse distance metrics from high-dimensional data in an efficient and scalable manner. Our experimental results show that the proposed method achieves better or at least comparable accuracy performance than the state-of-the-art non-sparse distance metric learning approaches, but enjoys a significant advantage in computational efficiency and sparsity, making it more practical for real-world applications.
106 citations
Cites background from "Object recognition from local scale..."
...Examples include global features: color, texture and shape (Gevers and Smeulders 2000), and local features: SIFT feature descriptors (Lowe 1999; 2004; Mikolajczyk and Schmid 2005; Quelhas et al. 2007; Zhang et al. 2007) and SURF feature descriptors (Bay, Tuytelaars, and Gool 2006) as well as their…...
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...Examples include global features: color, texture and shape (Gevers and Smeulders 2000), and local features: SIFT feature descriptors (Lowe 1999; 2004; Mikolajczyk and Schmid 2005; Quelhas et al. 2007; Zhang et al. 2007) and SURF feature descriptors (Bay, Tuytelaars, and Gool 2006) as well as their Bag-of-Words (BoW) representation (Fergus et al....
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TL;DR: It is argued that tracking, object detection, and model building are all similar activities, and a fully automatic system that builds 2D articulated models known as pictorial structures from videos of animals is described.
Abstract: This paper argues that tracking, object detection, and model building are all similar activities. We describe a fully automatic system that builds 2D articulated models known as pictorial structures from videos of animals. The learned model can be used to detect the animal in the original video - in this sense, the system can be viewed as a generalized tracker (one that is capable of modeling objects while tracking them). The learned model can be matched to a visual library; here, the system can be viewed as a video recognition algorithm. The learned model can also be used to detect the animal in novel images - in this case, the system can be seen as a method for learning models for object recognition. We find that we can significantly improve the pictorial structures by augmenting them with a discriminative texture model learned from a texture library. We develop a novel texture descriptor that outperforms the state-of-the-art for animal textures. We demonstrate the entire system on real video sequences of three different animals. We show that we can automatically track and identify the given animal. We use the learned models to recognize animals from two data sets; images taken by professional photographers from the Corel collection, and assorted images from the Web returned by Google. We demonstrate quite good performance on both data sets. Comparing our results with simple baselines, we show that, for the Google set, we can detect, localize, and recover part articulations from a collection demonstrably hard for object recognition
106 citations
Cites background or methods or result from "Object recognition from local scale..."
...ized patch pixel values [44], and the SIFT descriptor [45]....
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...normalizing for scale or dominant orientation (as in [45])....
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...Our results are surprising because SIFT was not designed to represent texture (as noted in [45]); however, we find that it can represent texture, given we store enough examples....
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Patent•
16 Dec 2005TL;DR: In this paper, a digital mapping database is used as prior information or constraints for an OCR engine that is interpreting the corresponding street scene image, resulting in much greater accuracy of the digital map data provided to the user.
Abstract: Optical character recognition (OCR) for images such as a street scene image is generally a difficult problem because of the variety of fonts, styles, colors, sizes, orientations, occlusions and partial occlusions that can be observed in the textual content of such scenes. However, a database query can provide useful information that can assist the OCR process. For instance, a query to a digital mapping database can provide information such as one or more businesses in a vicinity, the street name, and a range of possible addresses. In accordance with an embodiment of the present invention, this mapping information is used as prior information or constraints for an OCR engine that is interpreting the corresponding street scene image, resulting in much greater accuracy of the digital map data provided to the user.
105 citations
References
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TL;DR: In this paper, color histograms of multicolored objects provide a robust, efficient cue for indexing into a large database of models, and they can differentiate among a large number of objects.
Abstract: Computer vision is moving into a new era in which the aim is to develop visual skills for robots that allow them to interact with a dynamic, unconstrained environment. To achieve this aim, new kinds of vision algorithms need to be developed which run in real time and subserve the robot's goals. Two fundamental goals are determining the identity of an object with a known location, and determining the location of a known object. Color can be successfully used for both tasks.
This dissertation demonstrates that color histograms of multicolored objects provide a robust, efficient cue for indexing into a large database of models. It shows that color histograms are stable object representations in the presence of occlusion and over change in view, and that they can differentiate among a large number of objects. For solving the identification problem, it introduces a technique called Histogram Intersection, which matches model and image histograms and a fast incremental version of Histogram Intersection which allows real-time indexing into a large database of stored models. It demonstrates techniques for dealing with crowded scenes and with models with similar color signatures. For solving the location problem it introduces an algorithm called Histogram Backprojection which performs this task efficiently in crowded scenes.
5,672 citations
TL;DR: It is shown how the boundaries of an arbitrary non-analytic shape can be used to construct a mapping between image space and Hough transform space, which makes the generalized Houghtransform a kind of universal transform which can beused to find arbitrarily complex shapes.
4,310 citations
TL;DR: A near real-time recognition system with 20 complex objects in the database has been developed and a compact representation of object appearance is proposed that is parametrized by pose and illumination.
Abstract: The problem of automatically learning object models for recognition and pose estimation is addressed. In contrast to the traditional approach, the recognition problem is formulated as one of matching appearance rather than shape. The appearance of an object in a two-dimensional image depends on its shape, reflectance properties, pose in the scene, and the illumination conditions. While shape and reflectance are intrinsic properties and constant for a rigid object, pose and illumination vary from scene to scene. A compact representation of object appearance is proposed that is parametrized by pose and illumination. For each object of interest, a large set of images is obtained by automatically varying pose and illumination. This image set is compressed to obtain a low-dimensional subspace, called the eigenspace, in which the object is represented as a manifold. Given an unknown input image, the recognition system projects the image to eigenspace. The object is recognized based on the manifold it lies on. The exact position of the projection on the manifold determines the object's pose in the image. A variety of experiments are conducted using objects with complex appearance characteristics. The performance of the recognition and pose estimation algorithms is studied using over a thousand input images of sample objects. Sensitivity of recognition to the number of eigenspace dimensions and the number of learning samples is analyzed. For the objects used, appearance representation in eigenspaces with less than 20 dimensions produces accurate recognition results with an average pose estimation error of about 1.0 degree. A near real-time recognition system with 20 complex objects in the database has been developed. The paper is concluded with a discussion on various issues related to the proposed learning and recognition methodology.
2,037 citations
TL;DR: This paper addresses the problem of retrieving images from large image databases with a method based on local grayvalue invariants which are computed at automatically detected interest points and allows for efficient retrieval from a database of more than 1,000 images.
Abstract: This paper addresses the problem of retrieving images from large image databases. The method is based on local grayvalue invariants which are computed at automatically detected interest points. A voting algorithm and semilocal constraints make retrieval possible. Indexing allows for efficient retrieval from a database of more than 1,000 images. Experimental results show correct retrieval in the case of partial visibility, similarity transformations, extraneous features, and small perspective deformations.
1,756 citations
"Object recognition from local scale..." refers background or methods in this paper
...This allows for the use of more distinctive image descriptors than the rotation-invariant ones used by Schmid and Mohr, and the descriptor is further modified to improve its stability to changes in affine projection and illumination....
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...For the object recognition problem, Schmid & Mohr [19] also used the Harris corner detector to identify interest points, and then created a local image descriptor at each interest point from an orientation-invariant vector of derivative-of-Gaussian image measurements....
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..., Schmid & Mohr [19]) has shown that efficient recognition can often be achieved by using local image descriptors sampled at a large number of repeatable locations....
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...However, recent research on the use of dense local features (e.g., Schmid & Mohr [19]) has shown that efficient recognition can often be achieved by using local image descriptors sampled at a large number of repeatable locations....
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TL;DR: A robust approach to image matching by exploiting the only available geometric constraint, namely, the epipolar constraint, is proposed and a new strategy for updating matches is developed, which only selects those matches having both high matching support and low matching ambiguity.
1,574 citations
"Object recognition from local scale..." refers methods in this paper
...[23] used the Harris corner detector to identify feature locations for epipolar alignment of images taken from differing viewpoints....
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